Computer-assisted planning for a concentric tube robotic system in neurosurgery

verfasst von: Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs
Abstract: Purpose: Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot. Methods: We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length. Results: The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume. Conclusions: We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure.
Organisationseinheit(en): Institut für Kontinuumsmechanik
Externe Organisation(en): International Neuroscience Institute (INI)
Typ: Artikel
Journal: International journal of computer assisted radiology and surgery
Band: 14
Seiten: 335-344
Anzahl der Seiten: 10
ISSN: 1861-6410
Publikationsdatum: 01.02.2019
Publikationsstatus: Veröffentlicht
Peer-reviewed: Ja
ASJC Scopus Sachgebiete: Chirurgie, Biomedizintechnik, Radiologie, Nuklearmedizin und Bildgebung, Maschinelles Sehen und Mustererkennung, Gesundheitsinformatik, Angewandte Informatik, Computergrafik und computergestütztes Design
Elektronische Version(en): https://doi.org/10.1007/s11548-018-1890-8 (Zugang: Geschlossen)
: Details im Forschungsportal „Research@Leibniz University“

BibTeX

@article{ddd49c31f9224fe5812dfda991ab0370,
title = "Computer-assisted planning for a concentric tube robotic system in neurosurgery",
abstract = "Purpose: Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot. Methods: We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length. Results: The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume. Conclusions: We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure.",
keywords = "Concentric tube robot, Minimally invasive surgery, Neurosurgery, Planning, Robotic-surgery",
author = "Josephine Granna and Arya Nabavi and Jessica Burgner-Kahrs",
note = "Funding Information: Funding This research was supported in parts by the International Neu-robionics Foundation and by the German Research Foundation under Award No. BU-2935/1-1. ",
year = "2019",
month = feb,
day = "1",
doi = "10.1007/s11548-018-1890-8",
language = "English",
volume = "14",
pages = "335--344",
journal = "International journal of computer assisted radiology and surgery",
issn = "1861-6410",
publisher = "Springer Verlag",
number = "2",
}